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AP_BLHeli: add motor pole parameter

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vierfuffzig 2018-10-19 22:21:36 +02:00 committed by Andrew Tridgell
parent 33a215e8be
commit 83f4f5c347
3 changed files with 10 additions and 4 deletions
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9
libraries/AP_BLHeli/AP_BLHeli.cpp
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@ -101,6 +101,13 @@ const AP_Param::GroupInfo AP_BLHeli::var_info[] = {
// @User: Advanced
AP_GROUPINFO("PORT", 8, AP_BLHeli, control_port, 0),
// @Param: POLES
// @DisplayName: Motor Poles
// @Description: This allows calculation of true RPM from ESC's eRPM. The default is 14.
// @Values: 1-127
// @User: Advanced
AP_GROUPINFO("POLES", 9, AP_BLHeli, motor_poles, 14),
AP_GROUPEND
};
@ -1327,7 +1334,7 @@ void AP_BLHeli::read_telemetry_packet(void)
td.voltage = (buf[1]<<8) | buf[2];
td.current = (buf[3]<<8) | buf[4];
td.consumption = (buf[5]<<8) | buf[6];
td.rpm = (buf[7]<<8) | buf[8];
td.rpm = ((buf[7]<<8) | buf[8]) * motor_poles;
td.timestamp_ms = AP_HAL::millis();
last_telem[last_telem_esc] = td;

1
libraries/AP_BLHeli/AP_BLHeli.h
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@ -77,6 +77,7 @@ private:
AP_Int8 debug_level;
AP_Int8 output_type;
AP_Int8 control_port;
AP_Int8 motor_poles;
enum mspState {
MSP_IDLE=0,

4
libraries/AP_OSD/AP_OSD_Screen.cpp
View File

@ -752,9 +752,7 @@ void AP_OSD_Screen::draw_blh_rpm(uint8_t x, uint8_t y)
if (!blheli->get_telem_data(0, td)) {
return;
}
int esc_rpm = td.rpm * 14; // hard-wired assumption for now that motor has 14 poles, so multiply eRPM * 14 to get motor RPM.
backend->write(x, y, false, "%5d%c", esc_rpm, SYM_RPM);
backend->write(x, y, false, "%5d%c", td.rpm, SYM_RPM);
}
}